Public Member Functions | Private Attributes
grid_map_demos::OctomapToGridmapDemo Class Reference

#include <OctomapToGridmapDemo.hpp>

List of all members.

Public Member Functions

void convertAndPublishMap ()
 OctomapToGridmapDemo (ros::NodeHandle &nodeHandle)
bool readParameters ()
virtual ~OctomapToGridmapDemo ()

Private Attributes

ros::ServiceClient client_
 Octomap service client.
ros::Publisher gridMapPublisher_
 Grid map publisher.
grid_map::GridMap map_
 Grid map data.
float maxX_
float maxY_
float maxZ_
float minX_
 Bounding box of octomap to convert.
float minY_
float minZ_
ros::NodeHandlenodeHandle_
 ROS nodehandle.
ros::Publisher octomapPublisher_
 Octomap publisher.
std::string octomapServiceTopic_
 Name of the grid map topic.

Detailed Description

Receives a volumetric OctoMap and converts it to a grid map with an elevation layer. The grid map is published and can be viewed in Rviz.

Definition at line 24 of file OctomapToGridmapDemo.hpp.


Constructor & Destructor Documentation

Constructor.

Parameters:
nodeHandlethe ROS node handle.

Definition at line 20 of file OctomapToGridmapDemo.cpp.

Destructor.


Member Function Documentation

Reads and verifies the ROS parameters.

Returns:
true if successful.

Member Data Documentation

Octomap service client.

Definition at line 65 of file OctomapToGridmapDemo.hpp.

Grid map publisher.

Definition at line 53 of file OctomapToGridmapDemo.hpp.

Grid map data.

Definition at line 59 of file OctomapToGridmapDemo.hpp.

Definition at line 69 of file OctomapToGridmapDemo.hpp.

Definition at line 71 of file OctomapToGridmapDemo.hpp.

Definition at line 73 of file OctomapToGridmapDemo.hpp.

Bounding box of octomap to convert.

Definition at line 68 of file OctomapToGridmapDemo.hpp.

Definition at line 70 of file OctomapToGridmapDemo.hpp.

Definition at line 72 of file OctomapToGridmapDemo.hpp.

ROS nodehandle.

Definition at line 50 of file OctomapToGridmapDemo.hpp.

Octomap publisher.

Definition at line 56 of file OctomapToGridmapDemo.hpp.

Name of the grid map topic.

Definition at line 62 of file OctomapToGridmapDemo.hpp.


The documentation for this class was generated from the following files:


grid_map_demos
Author(s): P├ęter Fankhauser
autogenerated on Tue Jul 9 2019 05:06:58